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Research on real-time hybrid test control system based on ARM

Abstract

The real-time hybrid test system achieves the combination of numerical simulation and

physical loading by splitting the structure into a test substructure and a numerical substructure,

using hydraulic equipment to load the test substructure and OpenSees software to simulate and

analyze the numerical substructure, economically and effectively reproducing the dynamic

response of the structure under earthquake. However, the core technology controller of the hybrid

test system is still subject to foreign constraints, and the threshold is high and has not been applied

in many laboratories.

This paper constructs a hybrid test control system based on ARM STM32F407 controller,

combined with OpenSees numerical simulation software, using Matlab as an intermediate platform

to realize the communication between STM32 controller and OpenSees, and using LabVIEW

platform as the sub-controller of the hybrid test system to realize the indirect control of the servo

oil source, and uses the system to conduct a series of tests to verify the frame structure with the

addition of linear springs.

The research work in this paper consists of the following main parts.

(1)The overall architecture and development of the ARM-based real-time hybrid test system

are described in depth. First, the hybrid test system's components and benefits are introduced. Next,

the design concept and workflow of the system are introduced from the hybrid test system's overall

viewpoint; Additionally, a detailed introduction to the system's hardware and software designs,

involving the hardware component: the hydraulic servo actuator systematization, the STM32

controller and its particular choice of peripheral circuitry and operation, as well as the software

component, which consists of developing the design concepts and OpenSees programming, Matlab

and LabVIEW and the programming software Keil used in the STM32 controller;

(2)The inert feedback loop portion of the real-time hybrid test system, or the hydraulic servo

system, has problems with slow reaction, poor quality, and lack of agairference capability. The

Kalman-optimized genetic PID controlling method is suggested to address these issues. First of all,

for nonlinear issues like internally leaking and fluid compressible material in the hydraulic servo

system, a mathematical framework is developed, and the values of the parameters in the model can

be determined by the working characteristics of the apparatus; Second, to achieve precise control

of the sluggish-controlled hydraulic cylinder movement in the hydraulic servo system, the genetic

algorithm can be employed to find the hydraulic servo system's most effective proportional-

integral-differential (PID) controller gain. Third, the Kalman filtering algorithm is added to the

hydraulic servo system to reduce the impact on external disturbance and to address the amount of

numbers swings brought on by the GA optimized-optioptimized emulations show that the designed

Kalman genetic optimization PID controller can be better applied to the position control of the

hydraulic servo system, improving the response speed and control accuracy of the system while

reducing the influence of external disturbances on the hydraulic servo system;

(3)A LabVIEW-based subsystem sub-controller is created and the way to communicate

through it and the STM32 controller is researched in order to manage the servomotor oil supplier

part. Firstly, the overall design of data transmission and communication connection between the

system sub-controller based on LabVIEW and STM32 controller is introduced; secondly, the

method of Modbus communication that can be realized by LabVIEW and STM32 controller is

introduced in detail; then, according to the Modbus communication methods that can be realized

by STM32 controller: Finally, the test time required for each communication method is recorded

by inputting the step displacement for comparative analysis. Experiments show that the sub-

controller based on RS232 Modbus communication can better realize the control of the servo drive

and thus the control of the motor in the servo oil source;

(4)A series of experiments are conducted to validate the ARM-based real-time hybrid test

system. At first springy assessments are used to confirm the system's ability to function and

usefulness for device efficiency testing; then, the accuracy of the proposed inner-loop control

algorithm and the real-time performance of the selected communication method are verified by

comparing the actual displacement of the system's inner-loop control test with the target

displacement; finally, by contrasting the outcomes of the hybrid test with the equivalent OpenSees

simulation outcomes for one- and three-layer frame structures, the accurateness and robustness of

第一章绪论............................................................................................... 1

1.1 研究背景 ........................................................................................... 1

1.2 结构抗震试验方法的研究 .............................................................. 2

1.2.1 拟静力试验 ................................................................................. 2

1.2.2 地震模拟振动台试验 ................................................................. 3

1.2.3 拟动力试验 ................................................................................. 3

1.2.4 实时混合试验 ............................................................................. 4

1.3 混合实验国内外研究现状 .............................................................. 5

1.3.1 混合试验平台研究 ..................................................................... 5

1.3.2 伺服控制系统模型构建 ............................................................. 7

1.3.3 伺服控制算法的研究 ................................................................. 8

1.4 主要研究内容 ................................................................................... 9

第二章实时混合试验系统整体设计 .................................................... 11

2.1 系统设计方案与工作流程 ............................................................ 11

2.2 混合试验系统硬件设计................................................................. 13

2.2.1 硬件选型 ................................................................................... 13

2.2.2 硬件电路设计 ........................................................................... 24

2.3 混合试验系统软件设计................................................................. 25

2.3.1 Matlab 软件设计部分 .............................................................. 26

2.3.2 OpenSees 软件设计部分 .......................................................... 26

2.3.3 LabVIEW 软件设计部分 ......................................................... 26

2.3.4 STM32 的编程软件 Keil 设计部分 ...................................... 27

2.4 实时混合试验系统分析................................................................. 28

2.5 本章小结 ......................................................................................... 29

第三章基于卡尔曼遗传优化的 PID 内环控制研究 ............................ 30

3.1 阀控液压伺服系统模型................................................................. 30

3.1.1 阀控液压伺服系统 ................................................................... 30

3.1.2 阀控液压伺服系统的数学建模 ............................................... 31

3.2 液压伺服系统的控制算法 ............................................................ 35

3.2.1 PID 控制 .................................................................................... 35

3.2.2 遗传优化 PID 算法 .................................................................. 36

3.2.3 卡尔曼滤波器 ........................................................................... 38

3.3 仿真与分析 ..................................................................................... 39

3.4 本章小结 ......................................................................................... 44

第四章混合试验系统的副控制器设计 ................................................ 46

4.1 系统副控制器整体设计................................................................. 46

4.2 基于 Modbus 协议通讯方式方案设计 ....................................... 47

4.2.1 RS232 技术方案 ....................................................................... 50

4.2.2 RS485 技术方案 ....................................................................... 51

4.2.3 TCP 技术方案 ........................................................................... 52

4.3 副控制器的程序设计 ..................................................................... 52

4.3.1 基于 RS232 的 Modbus 通讯的程序设计 .......................... 52

4.3.2 基于 RS485 的 Modbus 通讯的程序设计 .......................... 54

4.3.3 基于 TCP 的 Modbus 通讯的程序设计 .............................. 55

4.4 结果分析 ......................................................................................... 56

4.5 本章小结 ......................................................................................... 59

第五章基于 ARM 的混合试验系统验证 ............................................. 60

5.1 试验子结构性能试验 ..................................................................... 60

5.2 内环控制试验验证 ......................................................................... 61

5.3 外环控制试验验证 ......................................................................... 65

5.3.1 单层框架结构混合试验验证分析 ........................................... 66

5.3.2 三层框架结构混合试验验证分析 ........................................... 69

5.4 本章小结 ......................................................................................... 75

第六章总结与展望 ................................................................................ 77

6.1 全文总结 ......................................................................................... 77

6.2 研究展望 ......................................................................................... 78

参考文献 ................................................................................................... 79

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